ADAPTIVE SLIDING MODE CONTROL OF A 5-DOF MANIPULATOR  ON A FIREFIGHTING ROBOT FOR DOOR-OPENING TASKS

Trần Quỳnh Trang; Nguyễn Phạm Thục Anh

doi:10.34238/tnu-jst.13750

ADAPTIVE SLIDING MODE CONTROL OF A 5-DOF MANIPULATOR ON A FIREFIGHTING ROBOT FOR DOOR-OPENING TASKS

About this article

Received: 05/10/25 Revised: 26/11/25 Published: 26/11/25

Authors

1. Tran Quynh Trang , 1) Ha Noi University of Science and Technology, 2) Vietnam National University of Forestry
2. Nguyen Pham Thuc Anh, Ha Noi University of Science and Technology

Abstract

This study focuses on the development of a control system for a 5-DOF manipulator mounted on a firefighting robot to perform stair-door opening tasks in emergency situations. Based on kinematic and dynamic analysis, an adaptive sliding mode controller is designed using Lyapunov stability theory, enabling the estimation and compensation of model uncertainties as well as external disturbances. Simulation results show that the proposed controller achieves accurate trajectory tracking with small errors and asymptotic stability, even under parameter variations and external perturbations. Experimental tests with two types of doors (a household door and a fire-resistant door) demonstrate that the positioning error of the robotic hand remains within 5% of the workspace, ensuring successful grasping and turning of the door handle. The findings confirm the effectiveness and practical applicability of the developed adaptive sliding mode controller for the 5-DOF manipulator mounted on the firefighting robot.

Keywords

Adaptive sliding mode control; Firefighting robot; Door-opening task; 5-DOF manipulator; Lyapunov stability

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DOI: https://doi.org/10.34238/tnu-jst.13750

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